Sensor Systems Laboratory
Inventing new technology for sensing, robotics, wireless power, and medical devices
Milton and Delia Zeutschel Professor
Allen School of Computer Science and Engineering, University of Washington
Department of Electrical and Computer Engineering, University of Washington
Brain Computer Interface for Robots
Rajesh N. Rao, Principal Investigator
Joshua R. Smith, co-Principal Investigator
Lillian Chang, Sensor Systems Postdoc
Mike Chung, Neural Systems Grad Student
Griffin Nicoll, Sensor Systems Undergrad
Vibinash Thomas, Sensor Systems Undergrad
We are been collaborating with the Neural Systems Lab to create a Brain Computer interface (BCI) for Hobbes (our PR2 robot), which will allow the robot to perform remote tasks. The system consists of our PR2 robot, an electrode cap for sensing brainwave frequencies, and graphical user interface for controlling the robot remotely. This system will allow a severely paralyzed patient to use a robot as a proxy to perform a task by issuings commands to the robot without the need of physical movement.
Grasping Objects Interaction
Shell Game Interaction
Because the user is located in a remote room wearing the cap, a graphical interface is necessary for the user to interact with the robot. The user monitors the robot's state through a live video feed on the screen. This screen also displays potential commands for the robot to perform.
BCI is based on the Steady State Visually-Evoked Potentials (SSVEP) paradigm. This type of BCI operates by exposing the user to oscillating visual stimuli. Electrical activity corresponding to the frequency of this oscillation (and its multiples) can be measured from the occiptial lobe of the brain located at the back of the skull. The user issues a command by choosing a stimulus (and therefore a frequency) to pay attention to. The BCI measures the corresponding EEG activity and attempts to infer from it the command the user has chosen for execution.
Pretouch Sensing for Manipulation, Liang-Ting Jiang, Joshua R. Smith, Robotics: Science and Systems, Workshop: Alternative Sensing Techniques for Robotic Perception, Jul 11-12, 2012.
Seashell Effect Pretouch Sensing for Robotic Grasping, Liang-Ting Jiang, Joshua R. Smith, IEEE International Conference on Robotics ans Automation (ICRA), May 5-12, 2012.
Seashell Effect Pretouch for Robot Grasping, Liang-Ting Jiang, Joshua R. Smith, IROS 2011 PR2 Workshop.